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Minimal Qualitative Topologic World Models for Mobile Robots

  • World models for mobile robots as introduced in many projects, are mostly redundant regarding similar situations detected in different places. The present paper proposes a method for dynamic generation of a minimal world model based on these redundancies. The technique is an extention of the qualitative topologic world modelling methods. As a central aspect the reliability regarding errortolerance and stability will be emphasized. The proposed technique demands very low constraints on the kind and quality of the employed sensors as well as for the kinematic precision of the utilized mobile platform. Hard realtime constraints can be handled due to the low computational complexity. The principal discussions are supported by real-world experiments with the mobile robot "

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Author:Uwe R. Zimmer
URN (permanent link):urn:nbn:de:hbz:386-kluedo-675
Document Type:Preprint
Language of publication:English
Year of Completion:1995
Year of Publication:1995
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2000/04/03
Source:Artificial Neural Networks and Expert Systems 95 November 20-23, 1995, Dunedin, New Zealand
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011